Elmo Servo Drives. Information Sheet for Crimson v2.0. Compatible Devices. Elmo Servo Drives using SimplIQ. Verified Device BAS-3/230-3

Transcription

1 Elmo Servo Drives Information Sheet for Crimson v2.0 Compatible Devices Elmo Servo Drives using SimplIQ Verified Device BAS-3/230-3 Accessible Data Command Description Type Notes -- Motion Commands... N/A 1 AC Acceleration Integer BG Begin motion Command 6 BT Begin motion at defined time Integer DC Deceleration Integer IL Input logic Integer JV Speed of jogging motion Integer MO Motor on/off Command 7 PA Absolute position Integer PR Relative position Integer SD Stop deceleration Integer SF Smooth factor for motion command Integer SP Speed for point-to-point motion Integer ST Stop motion using deceleration value Command 6 TC Torque command Real -- I/O Commands... N/A 1 AN Read analog inputs Real IB Bit-wise digital input Integer IF Digital input filter Real IP Read all digital inputs Integer OB Bit-wise digital output Integer OC Output Compare Integer OL Output Logic Integer OP Set all digital outputs Integer -- Status Commands... N/A 1 BV Maximum motor DC voltage Integer DV Reference desired value Real

2 EC Error code Integer LC Current limitation Integer MF Motor fault Integer MS Motion status reporting Integer SN Serial number Integer SR Numerical Integer TI Temperature indications array Integer VR Software (firmware) version String 8 -- Feedback Commands... N/A 1 AB Absolute encoder setting parameters Integer ID Read active current Real IQ Read reactive current Real PE Position error Integer PX Main encoder position Integer PY Auxiliary position Integer VE Velocity error Integer VX Main encoder velocity Integer VY Velocity of auxiliary feedback Integer YA Auxiliary position sensor parameters Integer -- Configuration Commands... N/A 1 AG Analog gains array Real AS Analog input offsets array Real BP Brake parameter Integer CA Commutation parameters array Integer CL Current continuous limitations array Real EF Encoder filter frequency Integer EM ECAM parameters Integer ET Entries for ECAM table Integer FF Feed forward Real FR Follower ratio Real HM Homing and capture mode Integer HY Auxiliary home and capture mode Integer MC Maximum peak current Real MP Motion (PT/PVT) parameters Integer PL Peak duration and limit Real PM Profiler mode Integer PT Position time command Integer PV Position velocity time command Integer PW PWM signal parameters Real QP Position Integer QT Time Integer QV Velocity Integer RM Reference mode (analog en./dis. Integer UM Unit mode stepper Integer TR Target radius Integer VH High reference limit Integer VL Low reference limit Integer XM X Modulo Integer YM Y Modulo Integer -- Control Filter Commands... N/A 1

3 GS Gain scheduling Integer KGR Gain scheduled controller Reals Real 5 KGI Gain scheduled controller Integers Integer 5 KI PID integral terms array Real KP PID proportional terms array Real KV Advanced filter for speed loop Integer XA Extra parameters (more) Integer XP Extra parameters Integer -- Protection Commands... N/A 1 ER Maximum tracking errors Integer HL Over-speed and position range limit Integer Integer Low actual feedback limit Integer -- Data Recording Commands... N/A 1 BH Get a sample signal as hexadecimal Integer RC Variables to record Integer RG Recording gap Integer RL Record length Integer RP Recorder parameters Integer Real Recording on/off Integer RV Recorded variables Integer -- User Parameters... N/A 1 HP Halt program execution Command 6 KL Kill motion and stop program Command 6 MI Mask interrupt Integer PS Program status Integer XC Continue program execution Command 6 XQ Execute program String 8 -- General Commands... N/A 1 LD Load parameters from flash memory Command 6 RS Reset Metronome Command 6 SV Save parameters to flash memory Command 6 TM System time Integer TS Sampling time Integer UF User float array Real UI User integer Integer WI Metronome data Integer WS Metronome data Integer ZX Program and auto-tune storage Integer -- Listing Selections -- A... through Z N/A 2 -- List by Machine Function N/A 3 -- A Z ( List by Initial Command Letter ) N/A 3 -- List By Keyword N/A 4

4 NOTES: 1) These items are headers for listing the selections of various machine functions. They are not selectable. 2) These items (A, B, C, etc.) are headers for listing the selections by the initial letter of the command. They are not selectable. 3) These items select the type of list to be displayed. List by Keyword allows the entry of a string that will display all selections whose descriptions contain that string. 4) List by Keyword will list all commands whose descriptions contain the string that is entered. 5) KGI and KGR use the command KG. The integer range and the real number range have been separated for the convenience of the programmer. 6) These commands execute when the bit is set to 1. 7) MO (Motor On/Off) is a command, but requires a 1 or 0 value. 8) VR and XQ are String items. Set the Properties as shown: The first 2 XQ label characters must be ##, and be counted in Length. Length must be greater than the Label plus those two characters.

5 Cable Information RS232 Serial Connection Elmo Drive SIGNAL NAME G3 3 Tx >> Rx 2 6 Rx << Tx 5 5 0V 3/4